Study the micro chaotic phenomena and its control of rigid-flexible robot

For rigid-flexible robots, the previous studies have revealed that the chaotic phenomena is inevitably caused by the uncertainty component flexibility and the joint clearance, which reduces position accuracy and operating stability. To solve the chaotic problem, the micro chaotic phenomena of rigid-flexible robot is effectively identified in this study, and the so called micro chaotic phenomena is the description of the uncertainty of position accuracy. From the new perspective of micro chaos to develop an intelligent control strategy, and the intelligent control method composed by the fuzzy neural network control and the PD delayed feedback control is proposed. Finally, its effectiveness is verified, and the accuracy and the stability of rigid-flexible robot while suppressing the micro chaotic phenomena is improved.